#ifndef SE2_RIGID_BODY_PLANNING_VALIDITY_CHECK_COUNT_H_
#define SE2_RIGID_BODY_PLANNING_VALIDITY_CHECK_COUNT_H_

#include "omplapp/apps/SE2RigidBodyPlanning.h"

class SE2RigidBodyPlanningValidityCheckCount : public ompl::app::SE2RigidBodyPlanning
{
public:
	SE2RigidBodyPlanningValidityCheckCount();
	virtual ~SE2RigidBodyPlanningValidityCheckCount();

	virtual void setup(void);

protected:
	const ompl::base::StateValidityCheckerPtr& allocStateValidityCheckerCount(const ompl::base::SpaceInformationPtr &si, const ompl::app::GeometricStateExtractor &se, bool selfCollision);
};


#endif